Continuous-Time Critic as a Lyapunov Function: Projected Adaptation and Cart-Pole Stabilization

arXiv:2610.09988 · eess.SY, cs.SY, math.DS, math.OC · Submitted 2026-10-07 · Read on arXiv

eess.SY, cs.SY, math.DS, math.OC

Submitted: 2026-10-07

Updated: 2026-10-07

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Adaptation — 15× in this paper · explained in 1 episode
• Actor — 7× in this paper · explained in 3 episodes
• Lyapunov function — 7× in this paper · explained in 2 episodes
• Reinforcement Learning — 6× in this paper · explained in 4 episodes
• Actor-Critic Framework — 2× in this paper · explained in 1 episode
• Verification — 2× in this paper · explained in 2 episodes
• Benchmark — 1× in this paper · explained in 2 episodes
• Core — 1× in this paper · explained in 2 episodes
• Failure Modes — 1× in this paper · explained in 3 episodes
• Formal Verification — 1× in this paper · explained in 2 episodes
• Robustness — 1× in this paper · explained in 5 episodes
• Theoretical Guarantees — 1× in this paper · explained in 2 episodes

Sources

• Clarabel: An interior-point solver for conic programs with quadratic objectives
• A framework for online, stabilizing reinforcement learning

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